JPS61252085A - Industrial robot device - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed Description of the Invention] [Industrial Application Field] This invention relates to an industrial robot device that is provided with auxiliary means for attaching large tools, etc. to a relatively small industrial robot and allowing it to work. It is something.

[Conventional technology]

First, by referring to FIG.
A conventional industrial robot device similar to the one shown in Publication No. 5 will be described.

In the figure, (l) is a robot device p (111) is a robot body.

(1b) is an elevating body that is supported by this main body (1a) and moves linearly in the vertical direction; (1c) is an 'ig1 arm that is supported by the elevating body (1b) and rotates back and forth on a horizontal plane; (1a)
) is a second arm that is supported at the tip of the first arm (1c) and rotates back and forth on a horizontal plane; (1e) is a second arm (1d);
), and (2) is an actuating body consisting of a gripping device fixed to the rotation shaft (1e), and is equipped with a gripping claw (2a) driven by pneumatic pressure or electricity. ing.

(3) is the floor, (4) is the ceiling, (5) is the workbench, (6) is the workpiece on the workbench (5), (7) is the tool held by the gripping claw (2a), (8) (9) is a balancer connected to the tip of the suspension body (8).

Although not shown inside, the device has a built-in plate spring or coil spring wound multiple times to constantly urge the wire (9a) upward, and most of the weight of the tool (7) connected to the wire (9a) is is being pulled upward. Also, since the wire (9a) is wound multiple times around the outer drum of the spring, the tool (7a)
) If you pull the tool (7) downward, the wire (9a) will stretch, and if you raise the tool (7) upward, the wire (9a) will be wound around the drum. That is, since most of the weight of the tool (7) is lifted by the built-in spring, the tool (7) can be moved up and down with a small external force. (11 is a dynamic power cable that supplies power to the tool (7).

In other words, the weight of the heavier tool (7) is reduced by the balancer (
Since the robot device (1) is supported by the ceiling (4) via the ceiling (4), the robot device (1) can carry out the required work with a low-payload, low-cost device.

[Problem that the invention seeks to solve]

In conventional industrial robot equipment like the one mentioned above.

Although the weight of the tool (7) is supported by the balancer (9), depending on the position of the operating body (2) in the operating range, the weight compensation by the balancer (9) may be insufficient, especially at the edges of the operating range. Robotic device (1).

There was a problem in that an unexpected load was applied by the tool (7) and the like.

The purpose of this invention is to solve the above-mentioned problems, and to provide an industrial robot device having an auxiliary means that can effectively compensate for the weight of tools, etc., with a mass-rate construction. be.

[Failure to solve the problem]

An industrial robot device according to the present invention connects a movable body distal end portion of the robot device to a connecting body movably engaged with a rail body whose intermediate portion is suspended from a fixed body above the robot device. Further, a coupling weight movably engaged with the rail body is disposed opposite to the connecting body via a suspension point of the rail body.

An interlocking mechanism is provided to displace the connecting body and the comb counterweight in correspondence with the suspension point.

[Effect]

In this invention, the longitudinal middle of the rail body is suspended.

The load at the tip of the actuating part of the robot device is compensated by a counterweight that moves to a position corresponding to the suspension point position on the rail body of the connecting body.

〔Example〕

An embodiment of the present invention will be described below with reference to FIGS. 1 to 7.

In the figure, the same reference numerals as in Fig. 8 indicate corresponding parts, and (1b) is secured to the main body (1a) and is movable in the vertical direction.

Also, an elevating body configured to be rotatable about the vertical axis of the main body (1a), (1c) an arm configured to be engaged with the elevating body (1b) and movable back and forth in the horizontal direction, and (1f) an arm (1C
) is a driving machine that constitutes a main part of an actuating body (2) to be described later, and is provided with nine downwardly rotating shafts (1e). (2) is an actuating body consisting of a gripping device and a driver (1f) fixed to the tip of a rotating shaft (1θ) and rotationally driven by a driver (1f), which has one gripping claw (2a) and is driven by a driver (1f). It has a built-in driving device (2b). (4) is a fixed body consisting of a ceiling provided above the robot device (1).

(6) is a work gripped by gripping claws (2a), (8) is a hanging body consisting of a wire rope suspended from a hanging handle (8a) provided on a fixed body (4), (1υ is a longitudinal The intermediate suspension point (1ia) is a rail suspended by a suspension member (8).

The steel plate is bent to form an opening (11b) on the lower side in the cross section.
), and support portions (11c) are formed at both edges of the opening (11b). (1
Reference numeral 7J is a support, and rollers (
12b) is pivotally mounted and movably engaged with the rail υ. A3 has one end connected to the support Ua arranged on one side of the longitudinal length of the rail tta, and the other end connected to the actuating body (2) through a universal joint (16). A universal joint (
15 balance weights connected through 9. α is an interlocking mechanism, and (15a) is a suspension point (11a) on rail αυ.
The first link of the interlocking mechanism a, whose intermediate part is pivotally connected at (
1sb) has one end pivoted to the support a7J on the side of the connecting body 0 and is connected to the connecting body aj, and the other end is connected to the first link (15a).
a second link pivotally connected to one end of the (15c)
One end is pivotally connected to the support 117J on one side of the counterweight, and the other end is connected to the first link (1
5a) is the operating range of the operating body (2) of the robot device (1), which is the operating range in the vertical projection plane in Fig. 1 and in the horizontal projection plane in Fig. 2. Indicates operating range.

That is, the middle part of the rail αυ is suspended from the fixed body (4) by the suspension body (8), and the operating body (2) is engaged with one side of the rail 0 via the connecting body a3. Rail α
The weight acting on the arm (1c) iC of the operating body (2), workpiece (6), etc. is compensated by the 9-coupled weight F) (10) engaged on the other side of υ. The aneurysms are each held at a hanging point (11a) by a support tool a.
) are movably arranged facing each other through interlocking mechanisms α! Connected by 9. Also.

Ll: Distance L from the suspension point (11a) to the connecting body (13)
2: Distance from the suspension point (11a) to the comb weight D C14) W1: Weight of the operating body (2), etc. W2: Value of WI Ll /W2L2 when the weight of the counterweight shear a4 is taken as The interlocking mechanism is designed so that the value becomes a predetermined value. Then, the operating body (2) is displaced by the operation of the robot device +11.

Due to the displacement of the actuating body (2), the interlocking mechanism α operates as shown in Figures 3 and 6, and the balancing weight α4 is moved to the suspension point (
11a). and.

Since the ratio of WILl and W2I, 2 does not change, the arm (1c)
The load acting on the actuator (2) remains constant regardless of the position of the actuator (2). In addition, the rail αυ is connected from the fixed body (4) to the suspension body (
8), it can be easily tilted twice and can easily accommodate the relatively wide operating range lle of the operating body (2).

In this way, the rail I, the counterweight α, the interlocking mechanism α
It is a simple device configuration with 9 as the main part.

The load acting on the arm (1c) can be effectively compensated regardless of the position of the actuator (2), which has a relatively wide operating range αe.

〔Effect of the invention〕

As explained above, the present invention suspends the middle of the rail from a fixed body above the robot device, and attaches a connecting body connected to the tip of the actuating body of the robot device to one side of the rail's length on the other side. An interlocking mechanism is provided which movably engages the counterweights and displaces the connecting body and the counterweight to positions corresponding to the suspension points of the rail. As a result, the load acting on the arm of the robot device due to the counterweight K is compensated, and it becomes possible to work with heavy tools, etc., using an inexpensive robot device with a relatively small payload. In addition, the rail is swingably suspended and can be easily tilted once, and the simple device configuration allows the load acting on the arm to be applied even if the operating body is located in any position within a relatively wide operating range. This is to realize an industrial robot device that can effectively compensate for

[Brief explanation of drawings]

FIG. 1 is a front view conceptually showing an embodiment of an industrial robot device according to the present invention, FIG. 2 is a plan view of FIG. 1, and FIG.
The figure is an enlarged view of the main part of Fig. 2 explaining the operation of the interlocking mechanism of Fig. 1, Fig. 4 is an enlarged view of the main part of Fig. 1, and Fig. 5 is a sectional view taken along the line V-V of Fig. 4. Fig. 6 is a view corresponding to Fig. 2 explaining other operations of the interlocking mechanism shown in Fig. 2, Fig. 7 is a right side view of Fig. 6,
FIG. 8 is a diagram corresponding to FIG. 1 showing a conventional industrial robot device. (1)...Robot device, (2)...Working body, (4
)...Fixed body. (8)... Hanging body, (111... Rail, (
11a)...Hanging point, α3...Connection body, (14.
...Balancing weight, housing...interlocking mechanism, (15a)
...first link, (1sb)...second link,
(15c)...Third link. In addition, the same parts or corresponding parts in the two figures are indicated by the same reference numerals.

Claims (1)

[Claims] A suspension body whose one end is supported by a fixed body provided above the robot device, a rail whose middle part is suspended from the other end of the suspension body, and a rail which is disposed on one longitudinal side of the rail. a connecting body that is movably engaged along the length of the rail and connected to the tip of the actuating body of the robot device; a counterweight disposed facing the connecting body, a first link having an intermediate portion pivotally connected to the rail at the suspension point, and one end connected to one end of the first link; The other end is a second link connected to the connecting body, and one end is the other end of the first link, and the other end is a third link connected to the counterweight. An industrial robot device comprising an interlocking mechanism that displaces the counterweight in response to displacement with respect to a point.